Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc

ArduCopter/Attitude.cpp

@@ -1,12 +1,5 @@
 #include "Copter.h"
 
-// get_smoothing_gain - returns smoothing gain to be passed into attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw
-//      result is a number from 2 to 12 with 2 being very sluggish and 12 being very crisp
-float Copter::get_smoothing_gain()
-{
-    return (2.0f + (float)g.rc_feel_rp/10.0f);
-}
-
 // get_pilot_desired_heading - transform pilot's yaw input into a
 // desired yaw rate
 // returns desired yaw rate in centi-degrees per second

ArduCopter/Copter.h

@@ -658,7 +658,6 @@ private:
     void update_altitude();
 
     // Attitude.cpp
-    float get_smoothing_gain();
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
     float get_roi_yaw();
     float get_look_ahead_yaw();

ArduCopter/Parameters.cpp

@@ -459,15 +459,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Advanced
     ASCALAR(angle_max, "ANGLE_MAX",                 DEFAULT_ANGLE_MAX),
 
-    // @Param: RC_FEEL_RP
-    // @DisplayName: RC Feel Roll/Pitch
-    // @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
-    // @Range: 0 100
-    // @Increment: 10
-    // @User: Standard
-    // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
-    GSCALAR(rc_feel_rp, "RC_FEEL_RP",  RC_FEEL_RP_MEDIUM),
-
     // @Param: PHLD_BRAKE_RATE
     // @DisplayName: PosHold braking rate
     // @Description: PosHold flight mode's rotation rate during braking in deg/sec

ArduCopter/Parameters.h

@@ -111,7 +111,7 @@ public:
         k_param_fs_batt_mah,
         k_param_angle_rate_max,         // remove
         k_param_rssi_range,             // unused, replaced by rssi_ library parameters
-        k_param_rc_feel_rp,
+        k_param_rc_feel_rp,             // deprecated
         k_param_NavEKF,                 // deprecated - remove
         k_param_mission,                // mission library
         k_param_rc_13_old,
@@ -407,7 +407,6 @@ public:
     AP_Int16        rtl_climb_min;              // rtl minimum climb in cm
 
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
-    AP_Int8         rc_feel_rp;                 // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
 
     AP_Int16        poshold_brake_rate;         // PosHold flight mode's rotation rate during braking in deg/sec
     AP_Int16        poshold_brake_angle_max;    // PosHold flight mode's max lean angle during braking in centi-degrees

ArduCopter/defines.h

@@ -184,13 +184,6 @@ enum tuning_func {
 #define ACRO_TRAINER_LEVELING   1
 #define ACRO_TRAINER_LIMITED    2
 
-// RC Feel roll/pitch definitions
-#define RC_FEEL_RP_VERY_SOFT        0
-#define RC_FEEL_RP_SOFT             25
-#define RC_FEEL_RP_MEDIUM           50
-#define RC_FEEL_RP_CRISP            75
-#define RC_FEEL_RP_VERY_CRISP       100
-
 // Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
 #define WP_YAW_BEHAVIOR_NONE                          0   // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
 #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP               1   // auto pilot will face next waypoint or home during rtl

ArduCopter/mode.cpp

@@ -372,7 +372,7 @@ void Copter::Mode::zero_throttle_and_relax_ac()
 {
 #if FRAME_CONFIG == HELI_FRAME
     // Helicopters always stabilize roll/pitch/yaw
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
     attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
 #else
     motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
@@ -414,10 +414,6 @@ void Copter::Mode::update_simple_mode(void) {
     copter.update_simple_mode();
 }
 
-float Copter::Mode::get_smoothing_gain() {
-    return copter.get_smoothing_gain();
-}
-
 bool Copter::Mode::set_mode(control_mode_t mode, mode_reason_t reason)
 {
     return copter.set_mode(mode, reason);

ArduCopter/mode.h

@@ -84,7 +84,6 @@ protected:
     float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f);
     float get_non_takeoff_throttle(void);
     void update_simple_mode(void);
-    float get_smoothing_gain(void);
     bool set_mode(control_mode_t mode, mode_reason_t reason);
     void set_land_complete(bool b);
     GCS_Copter &gcs();

ArduCopter/mode_althold.cpp

@@ -66,7 +66,7 @@ void Copter::ModeAltHold::run()
     case AltHold_MotorStopped:
 
         motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
 #if FRAME_CONFIG == HELI_FRAME    
@@ -104,7 +104,7 @@ void Copter::ModeAltHold::run()
         target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
 
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
         // call position controller
         pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
@@ -132,7 +132,7 @@ void Copter::ModeAltHold::run()
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
 #endif
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         pos_control->update_z_controller();
         break;
@@ -146,7 +146,7 @@ void Copter::ModeAltHold::run()
 #endif
 
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
         // adjust climb rate using rangefinder
         if (copter.rangefinder_alt_ok()) {

ArduCopter/mode_auto.cpp

@@ -280,10 +280,10 @@ void Copter::ModeAuto::wp_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
     } else {
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true);
     }
 }
 
@@ -345,10 +345,10 @@ void Copter::ModeAuto::spline_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
     } else {
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(), true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(), true);
     }
 }
 
@@ -505,7 +505,7 @@ void Copter::ModeAuto::circle_run()
     pos_control->update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(), copter.circle_nav->get_pitch(), copter.circle_nav->get_yaw(),true, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(), copter.circle_nav->get_pitch(), copter.circle_nav->get_yaw(), true);
 }
 
 #if NAV_GUIDED == ENABLED
@@ -576,7 +576,7 @@ void Copter::ModeAuto::loiter_run()
     copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
 
     pos_control->update_z_controller();
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
 }
 
 #endif
@@ -863,7 +863,7 @@ void Copter::ModeAuto::payload_place_run_loiter()
 
     // call attitude controller
     const float target_yaw_rate = 0;
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
 
     // call position controller
     pos_control->update_z_controller();

ArduCopter/mode_autotune.cpp

@@ -366,7 +366,7 @@ void Copter::ModeAutoTune::run()
         }
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
         pos_control->relax_alt_hold_controllers(0.0f);
         pos_control->update_z_controller();
     }else{
@@ -406,7 +406,7 @@ void Copter::ModeAutoTune::run()
 
         // if pilot override call attitude controller
         if (pilot_override || mode != TUNING) {
-            attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+            attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
         }else{
             // somehow get attitude requests from autotuning
             autotune_attitude_control();
@@ -483,7 +483,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
         get_poshold_attitude(roll_cd, pitch_cd, desired_yaw);
         
         // hold level attitude
-        attitude_control->input_euler_angle_roll_pitch_yaw(roll_cd, pitch_cd, desired_yaw, true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(roll_cd, pitch_cd, desired_yaw, true);
 
         // hold the copter level for 0.5 seconds before we begin a twitch
         // reset counter if we are no longer level
@@ -859,7 +859,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
         positive_direction = !positive_direction;
 
         if (axis == YAW) {
-            attitude_control->input_euler_angle_roll_pitch_yaw(0.0f, 0.0f, ahrs.yaw_sensor, false, get_smoothing_gain());
+            attitude_control->input_euler_angle_roll_pitch_yaw(0.0f, 0.0f, ahrs.yaw_sensor, false);
         }
 
         // set gains to their intra-test values (which are very close to the original gains)

ArduCopter/mode_brake.cpp

@@ -62,7 +62,7 @@ void Copter::ModeBrake::run()
     wp_nav->update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
 
     // call attitude controller
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f);
 
     // body-frame rate controller is run directly from 100hz loop
 

ArduCopter/mode_circle.cpp

@@ -79,11 +79,11 @@ void Copter::ModeCircle::run()
     if (pilot_yaw_override) {
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(copter.circle_nav->get_roll(),
                                                                       copter.circle_nav->get_pitch(),
-                                                                      target_yaw_rate, get_smoothing_gain());
+                                                                      target_yaw_rate);
     }else{
         attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(),
                                                            copter.circle_nav->get_pitch(),
-                                                           copter.circle_nav->get_yaw(),true, get_smoothing_gain());
+                                                           copter.circle_nav->get_yaw(), true);
     }
 
     // adjust climb rate using rangefinder

ArduCopter/mode_drift.cpp

@@ -102,7 +102,7 @@ void Copter::ModeDrift::run()
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // call attitude controller
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // output pilot's throttle with angle boost
     attitude_control->set_throttle_out(get_throttle_assist(vel.z, pilot_throttle_scaled), true, g.throttle_filt);

ArduCopter/mode_flip.cpp

@@ -180,7 +180,7 @@ void Copter::ModeFlip::run()
 
     case Flip_Recover:
         // use originally captured earth-frame angle targets to recover
-        attitude_control->input_euler_angle_roll_pitch_yaw(flip_orig_attitude.x, flip_orig_attitude.y, flip_orig_attitude.z, false, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(flip_orig_attitude.x, flip_orig_attitude.y, flip_orig_attitude.z, false);
 
         // increase throttle to gain any lost altitude
         throttle_out += FLIP_THR_INC;

ArduCopter/mode_flowhold.cpp

@@ -290,7 +290,7 @@ void Copter::ModeFlowHold::run()
     case FlowHold_MotorStopped:
 
         copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
-        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate, copter.get_smoothing_gain());
+        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
 #if FRAME_CONFIG == HELI_FRAME    
         // force descent rate and call position controller
         copter.pos_control->set_alt_target_from_climb_rate(-abs(copter.g.land_speed), copter.G_Dt, false);
@@ -323,7 +323,7 @@ void Copter::ModeFlowHold::run()
         target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
 
         // call attitude controller
-        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate, copter.get_smoothing_gain());
+        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
 
         // call position controller
         copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
@@ -341,7 +341,7 @@ void Copter::ModeFlowHold::run()
 
         copter.attitude_control->reset_rate_controller_I_terms();
         copter.attitude_control->set_yaw_target_to_current_heading();
-        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate, copter.get_smoothing_gain());
+        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
         copter.pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         copter.pos_control->update_z_controller();
         break;
@@ -355,7 +355,7 @@ void Copter::ModeFlowHold::run()
 #endif
 
         // call attitude controller
-        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate, copter.get_smoothing_gain());
+        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
 
         // adjust climb rate using rangefinder
         if (copter.rangefinder_alt_ok()) {

ArduCopter/mode_guided.cpp

@@ -435,13 +435,13 @@ void Copter::ModeGuided::pos_control_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
     } else if (auto_yaw_mode == AUTO_YAW_RATE) {
         // roll & pitch from waypoint controller, yaw rate from mavlink command or mission item
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_yaw_rate_cds(), get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_yaw_rate_cds());
     } else {
         // roll, pitch from waypoint controller, yaw heading from GCS or auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(), true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(), true);
     }
 }
 
@@ -489,13 +489,13 @@ void Copter::ModeGuided::vel_control_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), target_yaw_rate);
     } else if (auto_yaw_mode == AUTO_YAW_RATE) {
         // roll & pitch from velocity controller, yaw rate from mavlink command or mission item
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_yaw_rate_cds(), get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_yaw_rate_cds());
     } else {
         // roll, pitch from waypoint controller, yaw heading from GCS or auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_heading(), true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_heading(), true);
     }
 }
 
@@ -561,13 +561,13 @@ void Copter::ModeGuided::posvel_control_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), target_yaw_rate);
     } else if (auto_yaw_mode == AUTO_YAW_RATE) {
         // roll & pitch from position-velocity controller, yaw rate from mavlink command or mission item
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_yaw_rate_cds(), get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_yaw_rate_cds());
     } else {
         // roll, pitch from waypoint controller, yaw heading from GCS or auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_heading(), true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(pos_control->get_roll(), pos_control->get_pitch(), get_auto_heading(), true);
     }
 }
 
@@ -620,9 +620,9 @@ void Copter::ModeGuided::angle_control_run()
 
     // call attitude controller
     if (guided_angle_state.use_yaw_rate) {
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(roll_in, pitch_in, yaw_rate_in, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(roll_in, pitch_in, yaw_rate_in);
     } else {
-        attitude_control->input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);
     }
 
     // call position controller

ArduCopter/mode_land.cpp

@@ -110,7 +110,7 @@ void Copter::ModeLand::nogps_run()
     if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
 #if FRAME_CONFIG == HELI_FRAME  // Helicopters always stabilize roll/pitch/yaw
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
         attitude_control->set_throttle_out(0,false,g.throttle_filt);
 #else
         motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
@@ -129,7 +129,7 @@ void Copter::ModeLand::nogps_run()
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // call attitude controller
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // pause before beginning land descent
     if(land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
@@ -288,7 +288,7 @@ void Copter::land_run_horizontal_control()
 
     
     // call attitude controller
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate);
 }
 
 // do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch

ArduCopter/mode_loiter.cpp

@@ -128,7 +128,7 @@ void Copter::ModeLoiter::run()
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
 #endif
         wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
         pos_control->update_z_controller();
         break;
 
@@ -155,7 +155,7 @@ void Copter::ModeLoiter::run()
         wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
 
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
 
         // update altitude target and call position controller
         pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
@@ -173,7 +173,7 @@ void Copter::ModeLoiter::run()
         wp_nav->init_loiter_target();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0);
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         pos_control->update_z_controller();
         break;
@@ -193,7 +193,7 @@ void Copter::ModeLoiter::run()
         wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
 
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
 
         // adjust climb rate using rangefinder
         if (copter.rangefinder_alt_ok()) {

ArduCopter/mode_poshold.cpp

@@ -195,7 +195,7 @@ void Copter::ModePosHold::run()
         wp_nav->init_loiter_target();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_yaw_target_to_current_heading();
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0);
         pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
         pos_control->update_z_controller();
         return;
@@ -522,7 +522,7 @@ void Copter::ModePosHold::run()
         poshold.pitch = constrain_int16(poshold.pitch, -angle_max, angle_max);
 
         // update attitude controller targets
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(poshold.roll, poshold.pitch, target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(poshold.roll, poshold.pitch, target_yaw_rate);
 
         // adjust climb rate using rangefinder
         if (copter.rangefinder_alt_ok()) {

ArduCopter/mode_rtl.cpp

@@ -159,10 +159,10 @@ void Copter::ModeRTL::climb_return_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true);
     }
 
     // check if we've completed this stage of RTL
@@ -217,10 +217,10 @@ void Copter::ModeRTL::loiterathome_run()
     // call attitude controller
     if (copter.auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true);
     }
 
     // check if we've completed this stage of RTL
@@ -305,7 +305,7 @@ void Copter::ModeRTL::descent_run()
     pos_control->update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
 
     // check if we've reached within 20cm of final altitude
     _state_complete = labs(rtl_path.descent_target.alt - copter.current_loc.alt) < 20;

ArduCopter/mode_smart_rtl.cpp

@@ -65,7 +65,7 @@ void Copter::ModeSmartRTL::wait_cleanup_run()
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
     wp_nav->update_wpnav();
     pos_control->update_z_controller();
-    attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true);
 
     // check if return path is computed and if yes, begin journey home
     if (g2.smart_rtl.request_thorough_cleanup()) {
@@ -103,10 +103,10 @@ void Copter::ModeSmartRTL::path_follow_run()
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0);
     } else {
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(),true);
     }
 }
 
@@ -129,7 +129,7 @@ void Copter::ModeSmartRTL::pre_land_position_run()
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
     wp_nav->update_wpnav();
     pos_control->update_z_controller();
-    attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(), true, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_auto_heading(), true);
 }
 
 // save current position for use by the smart_rtl flight mode

ArduCopter/mode_stabilize.cpp

@@ -53,7 +53,7 @@ void Copter::ModeStabilize::run()
     pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in());
 
     // call attitude controller
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // body-frame rate controller is run directly from 100hz loop
 

ArduCopter/mode_stabilize_heli.cpp

@@ -65,7 +65,7 @@ void Copter::ModeStabilize_Heli::run()
     pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
 
     // call attitude controller
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // output pilot's throttle - note that TradHeli does not used angle-boost
     attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);

ArduCopter/mode_throw.cpp

@@ -141,7 +141,7 @@ void Copter::ModeThrow::run()
         motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
         // demand a level roll/pitch attitude with zero yaw rate
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
 
         // output 50% throttle and turn off angle boost to maximise righting moment
         attitude_control->set_throttle_out(0.5f, false, g.throttle_filt);
@@ -154,7 +154,7 @@ void Copter::ModeThrow::run()
         motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
 
         // call height controller
         pos_control->set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);
@@ -171,7 +171,7 @@ void Copter::ModeThrow::run()
         wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
 
         // call attitude controller
-        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f, get_smoothing_gain());
+        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f);
 
         // call height controller
         pos_control->set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);

ArduCopter/takeoff.cpp

@@ -182,5 +182,5 @@ void Copter::auto_takeoff_attitude_run(float target_yaw_rate)
     }
     
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate, get_smoothing_gain());
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate);
 }

ArduCopter/tuning.cpp

@@ -179,8 +179,8 @@ void Copter::tuning() {
 #endif
 
     case TUNING_RC_FEEL_RP:
-        // roll-pitch input smoothing
-        g.rc_feel_rp = control_in / 10;
+        // convert from control_in to input time constant
+        attitude_control->set_input_tc(1.0f / (2.f + MAX((control_in/100.0f),0.0f)));
         break;
 
     case TUNING_RATE_PITCH_KP: